Preparing changes to use automatic CMakeFiles also in the ROS projects. (#48)
Holger Rapp
GitHub
parent
be813a06fe
commit
8f64860b5d
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@ -16,22 +16,23 @@ include(CMakeParseArguments)
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macro(_parse_arguments ARGS)
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set(OPTIONS
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USES_BOOST
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USES_CERES
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USES_EIGEN
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USES_GFLAGS
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USES_GLOG
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USES_GLOG
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USES_LUA
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USES_BOOST
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USES_WEBP
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USES_GLOG
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USES_GFLAGS
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)
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# Options only used by projects using Cartographers cmake files.
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list(APPEND OPTIONS
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USES_CARTOGRAPHER
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USES_ROS
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USES_ZLIB
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USES_PCL
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USES_ROS
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USES_YAMLCPP
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USES_ZLIB
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)
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set(ONE_VALUE_ARG )
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set(MULTI_VALUE_ARGS SRCS HDRS DEPENDS)
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@ -108,6 +109,10 @@ macro(_common_compile_stuff VISIBILITY)
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endforeach()
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endif()
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if(ARG_USES_YAMLCPP)
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target_link_libraries("${NAME}" yaml-cpp)
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endif()
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set_target_properties(${NAME} PROPERTIES
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COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
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@ -165,17 +170,6 @@ function(google_combined_library NAME)
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DEPENDS ${ARG_SRCS}
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)
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add_custom_command(
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OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/${FIL_WE}.pb.cc"
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"${CMAKE_CURRENT_BINARY_DIR}/${FIL_WE}.pb.h"
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COMMAND ${PROTOBUF_PROTOC_EXECUTABLE}
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ARGS --cpp_out ${CMAKE_BINARY_DIR} -I
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${CMAKE_BINARY_DIR} ${REWRITTEN_PROTO}
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DEPENDS ${REWRITTEN_PROTO}
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COMMENT "Running C++ protocol buffer compiler on ${FIL}"
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VERBATIM
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)
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# Just a dummy library, we will overwrite its output directly after again
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# with its POST_BUILD step.
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google_library(${NAME}
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@ -273,6 +267,7 @@ function(google_library NAME)
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STATIC
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${ARG_SRCS} ${ARG_HDRS}
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)
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set_property(TARGET "${NAME}" PROPERTY POSITION_INDEPENDENT_CODE ON)
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# Update the global variable that contains all static libraries.
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SET(ALL_LIBRARIES "${ALL_LIBRARIES};${NAME}" CACHE INTERNAL "ALL_LIBRARIES")
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@ -19,6 +19,7 @@
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import os
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from os import path
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import re
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import argparse
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def MakeRelative(filename, directory):
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@ -72,20 +73,20 @@ class Target(object):
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return "\n".join(lines)
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def ExtractCartographerIncludes(source):
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def ExtractProjectIncludes(project_name, source):
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"""Returns all locally included files."""
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includes = set()
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for line in open(MaybeUseCmakeFile(source)):
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if source.endswith(".proto"):
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match = re.match(r'^import "(cartographer/[^"]+)', line)
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match = re.match(r'^import "(' + project_name + r'/[^"]+)', line)
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else:
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match = re.match(r'^#include "(cartographer/[^"]+)"', line)
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match = re.match(r'^#include "(' + project_name + r'/[^"]+)"', line)
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if match:
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includes.add(match.group(1))
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return includes
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def ExtractUses(source):
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def ExtractUses(project_name, source):
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"""Finds the options for the third_party libraries used."""
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uses = set()
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for line in open(MaybeUseCmakeFile(source)):
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@ -99,10 +100,21 @@ def ExtractUses(source):
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uses.add("USES_GLOG")
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if re.match(r'^#include "gflags/', line):
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uses.add("USES_GFLAGS")
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if re.match(r"^#include <boost/", line):
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if re.match(r'^#include ["<]boost/', line):
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uses.add("USES_BOOST")
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if re.match(r'^#include "webp/', line):
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if re.match(r'^#include ["<]webp/', line):
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uses.add("USES_WEBP")
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if re.match(r'^#include ["<]pcl/', line):
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uses.add("USES_PCL")
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if re.match(r'^#include ["<]ros/', line):
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uses.add("USES_ROS")
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if re.match(r'^#include "[a-zA-Z]*_msgs/', line):
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uses.add("USES_ROS")
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if re.match(r'^#include ["<]yaml-cpp/', line):
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uses.add("USES_YAMLCPP")
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if project_name != "cartographer":
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if re.match(r'^#include ["<]cartographer/', line):
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uses.add("USES_CARTOGRAPHER")
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return uses
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@ -130,13 +142,20 @@ def ReadFileWithoutGoogleTargets(filename):
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yield line.rstrip()
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def ParseArgs():
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p = argparse.ArgumentParser(
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description="Automatically update cMakeFiles using build conventions.")
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p.add_argument("root", type=str, help="Source directory.")
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return p.parse_args()
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def main():
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root_directory = os.path.realpath(
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os.path.join(os.path.dirname(__file__), os.path.pardir, "cartographer"))
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args = ParseArgs()
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targets_by_src = {}
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targets = []
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base_directory = path.realpath(path.join(root_directory, path.pardir))
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project_name = os.path.basename(args.root)
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base_directory = path.realpath(path.join(args.root, path.pardir))
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directories = set()
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def AddTarget(target_type, name, directory, srcs, hdrs):
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@ -152,14 +171,16 @@ def main():
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targets_by_src[proto_stem + ".pb.cc"] = target
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directories.add(directory)
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for (directory, sources) in FindSourceFiles(root_directory):
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for (directory, sources) in FindSourceFiles(args.root):
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module_name = path.relpath(directory,
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path.realpath(root_directory)).replace("/", "_")
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path.realpath(args.root)).replace("/", "_")
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prepend_module_name = lambda s: (module_name + "_" + s) if module_name != "." else s
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headers = set(fn for fn in sources if fn.endswith(".h"))
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sources -= headers
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for h in sorted(headers):
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srcs = []
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name = module_name + "_" + path.basename(path.splitext(h)[0])
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name = prepend_module_name(path.basename(path.splitext(h)[0]))
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cc_file = path.splitext(h)[0] + ".cc"
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if cc_file in sources:
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sources.remove(cc_file)
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@ -169,13 +190,13 @@ def main():
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tests = set(fn for fn in sources if fn.endswith("_test.cc"))
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sources -= tests
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for c in sorted(tests):
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name = module_name + "_" + path.basename(path.splitext(c)[0])
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name = prepend_module_name(path.basename(path.splitext(c)[0]))
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AddTarget("google_test", name, directory, [c], [])
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protos = set(fn for fn in sources if fn.endswith(".proto"))
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sources -= protos
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for c in sorted(protos):
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name = module_name + "_" + path.basename(path.splitext(c)[0])
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name = prepend_module_name(path.basename(path.splitext(c)[0]))
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AddTarget("google_proto_library", name, directory, [c], [])
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mains = set(fn for fn in sources if fn.endswith("_main.cc"))
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@ -185,7 +206,7 @@ def main():
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# 'cartographer' to distinguish them after installation. So,
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# 'io/asset_writer_main.cc' will generate a binary called
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# 'cartographer_asset_writer'.
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name = 'cartographer_' + path.basename(path.splitext(c)[0][:-5])
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name = "cartographer_" + path.basename(path.splitext(c)[0][:-5])
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AddTarget("google_binary", name, directory, [c], [])
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assert (not sources), "Remaining sources without target: %s" % sources
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@ -195,12 +216,14 @@ def main():
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targets_in_directory = [t for t in targets if t.directory == directory]
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for target in targets_in_directory:
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for src in target.srcs + target.hdrs:
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for header in ExtractCartographerIncludes(src):
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for header in ExtractProjectIncludes(project_name, src):
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dependant = targets_by_src[header]
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if dependant.name == target.name:
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continue
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target.depends.add(dependant.name)
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target.uses.update(ExtractUses(src))
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target.uses.update(ExtractUses(project_name, src))
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if target.type is "google_test" and "USES_ROS" in target.uses:
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target.type = "google_catkin_test"
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cmake_file = path.join(directory, "CMakeLists.txt")
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lines = list(ReadFileWithoutGoogleTargets(cmake_file))
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